From 06453ff4ddbb3da0491656ee12f9c4d62c93bdea Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Fri, 3 Mar 2023 14:04:48 +0100
Subject: [PATCH] license headers and ci
---
.clang-format | 115 ++++++++++++++++++
.gitlab-ci.yml | 88 +++++++-------
demos/eigenmvn.h | 12 +-
demos/mcapi_utils.cpp | 13 +-
demos/mcapi_utils.h | 13 +-
demos/solo_imu_kine.cpp | 13 +-
demos/solo_imu_kine_mocap.cpp | 13 +-
demos/solo_imu_mocap.cpp | 13 +-
demos/solo_kine_mocap.cpp | 13 +-
demos/solo_real_povcdl_estimation.cpp | 13 +-
.../capture/capture_force_torque_preint.h | 13 +-
.../capture/capture_inertial_kinematics.h | 13 +-
.../bodydynamics/capture/capture_leg_odom.h | 12 +-
.../capture/capture_point_feet_nomove.h | 12 +-
include/bodydynamics/common/bodydynamics.h | 13 +-
.../bodydynamics/factor/factor_force_torque.h | 12 +-
.../factor/factor_force_torque_preint.h | 13 +-
.../factor/factor_inertial_kinematics.h | 12 +-
.../factor/factor_point_feet_altitude.h | 12 +-
.../factor/factor_point_feet_nomove.h | 12 +-
.../factor/factor_point_feet_zero_velocity.h | 12 +-
.../feature/feature_force_torque.h | 13 +-
.../feature/feature_force_torque_preint.h | 13 +-
.../feature/feature_inertial_kinematics.h | 13 +-
.../math/force_torque_delta_tools.h | 12 +-
.../processor/processor_force_torque_preint.h | 13 +-
.../processor/processor_inertial_kinematics.h | 13 +-
.../processor/processor_point_feet_nomove.h | 13 +-
.../bodydynamics/sensor/sensor_force_torque.h | 13 +-
.../sensor/sensor_inertial_kinematics.h | 13 +-
.../sensor/sensor_point_feet_nomove.h | 13 +-
license_header_2023.txt | 8 +-
src/capture/capture_force_torque_preint.cpp | 13 +-
src/capture/capture_inertial_kinematics.cpp | 13 +-
src/capture/capture_leg_odom.cpp | 12 +-
src/capture/capture_point_feet_nomove.cpp | 12 +-
src/feature/feature_force_torque.cpp | 13 +-
src/feature/feature_force_torque_preint.cpp | 13 +-
src/feature/feature_inertial_kinematics.cpp | 13 +-
.../processor_force_torque_preint.cpp | 13 +-
.../processor_inertial_kinematics.cpp | 12 +-
src/processor/processor_point_feet_nomove.cpp | 12 +-
src/sensor/sensor_force_torque.cpp | 13 +-
src/sensor/sensor_inertial_kinematics.cpp | 13 +-
src/sensor/sensor_point_feet_nomove.cpp | 13 +-
test/gtest_capture_inertial_kinematics.cpp | 12 +-
test/gtest_capture_leg_odom.cpp | 12 +-
test/gtest_factor_force_torque.cpp | 12 +-
test/gtest_factor_inertial_kinematics.cpp | 12 +-
test/gtest_feature_inertial_kinematics.cpp | 12 +-
test/gtest_force_torque_delta_tools.cpp | 12 +-
test/gtest_processor_force_torque_preint.cpp | 12 +-
test/gtest_processor_inertial_kinematics.cpp | 12 +-
test/gtest_processor_point_feet_nomove.cpp | 12 +-
test/gtest_sensor_force_torque.cpp | 12 +-
test/gtest_sensor_inertial_kinematics.cpp | 12 +-
56 files changed, 458 insertions(+), 418 deletions(-)
create mode 100644 .clang-format
diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000..ce68455
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,115 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+#IndentAccessModifiers: false
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+AlignEscapedNewlines: Right
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBraces: Custom
+BraceWrapping:
+ AfterClass: true
+ AfterControlStatement: Always
+ AfterEnum: true
+ AfterFunction: true
+ AfterNamespace: true
+ AfterObjCDeclaration: true
+ AfterStruct: true
+ AfterUnion: true
+ AfterExternBlock: false
+ BeforeCatch: true
+ BeforeElse: true
+ IndentBraces: false
+ SplitEmptyFunction: true
+ SplitEmptyRecord: true
+ SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit: 119
+# CommentPragmas: "^ IWYU pragma: ^\\.+"
+CommentPragmas: '^\\.+'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+ - foreach
+ - Q_FOREACH
+ - BOOST_FOREACH
+IncludeBlocks: Preserve
+# IncludeCategories:
+# - Regex: '^<pinocchio/fwd\.hpp>'
+# Priority: 1
+# - Regex: '^<ext/.*\.h>'
+# Priority: 3
+# - Regex: '^<.*\.h>'
+# Priority: 2
+# - Regex: "^<.*"
+# Priority: 3
+# - Regex: ".*"
+# Priority: 4
+IncludeIsMainRegex: "([-_](test|unittest))?$"
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth: 4
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ""
+MacroBlockEnd: ""
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: false
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Auto
+TabWidth: 4
+UseTab: Never
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 3468036..7880d5e 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -40,47 +40,50 @@ stages:
# create 'ci_deps' folder (if not exists)
- mkdir -pv ci_deps
-.license_header_template: &license_header_definition
- - cd $CI_PROJECT_DIR
-
- # configure git
- - export CI_NEW_BRANCH=ci_processing$RANDOM
- - echo creating new temporary branch... $CI_NEW_BRANCH
- - git config --global user.email "${CI_EMAIL}"
- - git config --global user.name "${CI_USERNAME}"
- - git checkout -b $CI_NEW_BRANCH # temporary branch
-
- # download license script
- - if [ -f /ci_deps/license_manager.sh ]; then
- - echo "File license_manager.sh already exists."
- - else
- - echo "Downloading file license_manager.sh..."
- - wget -P /ci_deps https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf/-/raw/devel/wolf_scripts/license_manager.sh
- - fi
-
- # license headers
- - export CURRENT_YEAR=$( date +'%Y' )
- - echo "current year:" ${CURRENT_YEAR}
- - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
- # add license headers to new files
- - echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
- - source /ci_deps/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
- - else
- # update license headers of all files
- - export PREV_YEAR=$(( CURRENT_YEAR-1 ))
- - echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
- - git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
- - sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
- - source /ci_deps/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
- - fi
-
- # push changes (if any)
- - if git commit -a -m "[skip ci] license headers added or modified" ; then
- - git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
- - git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
- - else
- - echo "No changes, nothing to commit!"
- - fi
+# .license_header_template: &license_header_definition
+# - cd $CI_PROJECT_DIR
+
+# # configure git
+# - export CI_NEW_BRANCH=ci_processing$RANDOM
+# - echo creating new temporary branch... $CI_NEW_BRANCH
+# - git config --global user.email "${CI_EMAIL}"
+# - git config --global user.name "${CI_USERNAME}"
+# - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+# # download license script
+# - if [ -f /ci_deps/license_manager.sh ]; then
+# - echo "File license_manager.sh already exists."
+# - else
+# - echo "Downloading file license_manager.sh..."
+# - wget -P /ci_deps https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf/-/raw/$WOLF_CORE_BRANCH/wolf_scripts/license_manager.sh
+# - fi
+
+# # license headers
+# - export CURRENT_YEAR=$( date +'%Y' )
+# - echo "current year:" ${CURRENT_YEAR}
+# - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+# # add license headers to new files
+# - echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+# - source /ci_deps/license_manager.sh --add --path=. --config-path=. --exclude=ci_deps
+# - else
+# # remove license headers of all files
+# - source /ci_deps/license_manager.sh --remove --path=. --config-path=. --exclude=ci_deps
+# # update license header
+# - export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+# - echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+# - git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+# - sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+# # add new license headers to all files
+# - source /ci_deps/license_manager.sh --add --path=. --config-path=. --exclude=ci_deps
+# - fi
+
+# # push changes (if any)
+# - if git commit -a -m "[skip ci] license headers added or modified" ; then
+# - git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+# - git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+# - else
+# - echo "No changes, nothing to commit!"
+# - fi
.install_yamlschemacpp_template: &install_yamlschemacpp_definition
- cd ${CI_PROJECT_DIR}/ci_deps
@@ -154,7 +157,8 @@ license_headers:
before_script:
- *preliminaries_definition
script:
- - *license_header_definition
+ # - *license_header_definition
+ - !reference [.license_header_script]
############ UBUNTU 18.04 TESTS ############
build_and_test:bionic:
diff --git a/demos/eigenmvn.h b/demos/eigenmvn.h
index 2758ed0..ad491f7 100644
--- a/demos/eigenmvn.h
+++ b/demos/eigenmvn.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* Multivariate Normal distribution sampling using C++11 and Eigen matrices.
*
diff --git a/demos/mcapi_utils.cpp b/demos/mcapi_utils.cpp
index 06d1162..f43a6cd 100644
--- a/demos/mcapi_utils.cpp
+++ b/demos/mcapi_utils.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,9 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
-
#include "mcapi_utils.h"
diff --git a/demos/mcapi_utils.h b/demos/mcapi_utils.h
index 474f217..634b043 100644
--- a/demos/mcapi_utils.h
+++ b/demos/mcapi_utils.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include <vector>
#include "Eigen/Dense"
#include "pinocchio/algorithm/crba.hpp"
diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index 944c9e4..e3dd1a8 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include <iostream>
#include <fstream>
diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp
index 0470b43..ccee008 100644
--- a/demos/solo_imu_kine_mocap.cpp
+++ b/demos/solo_imu_kine_mocap.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include <iostream>
#include <fstream>
diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp
index 5de5db9..a8f3934 100644
--- a/demos/solo_imu_mocap.cpp
+++ b/demos/solo_imu_mocap.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include <iostream>
#include <fstream>
diff --git a/demos/solo_kine_mocap.cpp b/demos/solo_kine_mocap.cpp
index 612cf12..40d4aa2 100644
--- a/demos/solo_kine_mocap.cpp
+++ b/demos/solo_kine_mocap.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include <iostream>
#include <fstream>
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index 5243ee6..08d0d96 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include <iostream>
#include <fstream>
// #include <random>
diff --git a/include/bodydynamics/capture/capture_force_torque_preint.h b/include/bodydynamics/capture/capture_force_torque_preint.h
index 7055591..a2331fd 100644
--- a/include/bodydynamics/capture/capture_force_torque_preint.h
+++ b/include/bodydynamics/capture/capture_force_torque_preint.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef CAPTURE_FORCE_TORQUE_PREINT_H
#define CAPTURE_FORCE_TORQUE_PREINT_H
diff --git a/include/bodydynamics/capture/capture_inertial_kinematics.h b/include/bodydynamics/capture/capture_inertial_kinematics.h
index d4c963d..72c8b0e 100644
--- a/include/bodydynamics/capture/capture_inertial_kinematics.h
+++ b/include/bodydynamics/capture/capture_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef CAPTURE_INERTIAL_KINEMATICS_H
#define CAPTURE_INERTIAL_KINEMATICS_H
diff --git a/include/bodydynamics/capture/capture_leg_odom.h b/include/bodydynamics/capture/capture_leg_odom.h
index 204c542..54f6bfa 100644
--- a/include/bodydynamics/capture/capture_leg_odom.h
+++ b/include/bodydynamics/capture/capture_leg_odom.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_capture_leg_odom.h
*
diff --git a/include/bodydynamics/capture/capture_point_feet_nomove.h b/include/bodydynamics/capture/capture_point_feet_nomove.h
index 17539f8..1223076 100644
--- a/include/bodydynamics/capture/capture_point_feet_nomove.h
+++ b/include/bodydynamics/capture/capture_point_feet_nomove.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
*
* Created on: Oct 23, 2020
diff --git a/include/bodydynamics/common/bodydynamics.h b/include/bodydynamics/common/bodydynamics.h
index e0722b9..9faa3bc 100644
--- a/include/bodydynamics/common/bodydynamics.h
+++ b/include/bodydynamics/common/bodydynamics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#pragma once
// Enable project-specific definitions and macros
diff --git a/include/bodydynamics/factor/factor_force_torque.h b/include/bodydynamics/factor/factor_force_torque.h
index 37e8e3f..12af1ce 100644
--- a/include/bodydynamics/factor/factor_force_torque.h
+++ b/include/bodydynamics/factor/factor_force_torque.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file factor_force_torque.h
*
diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque_preint.h
index bc226bf..7b2f18a 100644
--- a/include/bodydynamics/factor/factor_force_torque_preint.h
+++ b/include/bodydynamics/factor/factor_force_torque_preint.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef FACTOR_FORCE_TORQUE_PREINT_THETA_H_
#define FACTOR_FORCE_TORQUE_PREINT_THETA_H_
diff --git a/include/bodydynamics/factor/factor_inertial_kinematics.h b/include/bodydynamics/factor/factor_inertial_kinematics.h
index fea2e0a..81c2a76 100644
--- a/include/bodydynamics/factor/factor_inertial_kinematics.h
+++ b/include/bodydynamics/factor/factor_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file factor_inertial_kinematics.h
*
diff --git a/include/bodydynamics/factor/factor_point_feet_altitude.h b/include/bodydynamics/factor/factor_point_feet_altitude.h
index 3e6980c..1f9faf1 100644
--- a/include/bodydynamics/factor/factor_point_feet_altitude.h
+++ b/include/bodydynamics/factor/factor_point_feet_altitude.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file factor_point_feet_altitude.h
*
diff --git a/include/bodydynamics/factor/factor_point_feet_nomove.h b/include/bodydynamics/factor/factor_point_feet_nomove.h
index aec1f49..3c54483 100644
--- a/include/bodydynamics/factor/factor_point_feet_nomove.h
+++ b/include/bodydynamics/factor/factor_point_feet_nomove.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file factor_point_feet_nomove.h
*
diff --git a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
index 00b40ef..92c5c93 100644
--- a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
+++ b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file factor_point_feet_nomove.h
*
diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h
index e37917e..90bb950 100644
--- a/include/bodydynamics/feature/feature_force_torque.h
+++ b/include/bodydynamics/feature/feature_force_torque.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef FEATURE_FORCE_TORQUE_H_
#define FEATURE_FORCE_TORQUE_H_
diff --git a/include/bodydynamics/feature/feature_force_torque_preint.h b/include/bodydynamics/feature/feature_force_torque_preint.h
index ed2a4d9..6d9115c 100644
--- a/include/bodydynamics/feature/feature_force_torque_preint.h
+++ b/include/bodydynamics/feature/feature_force_torque_preint.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef FEATURE_FORCE_TORQUE_PREINT_H_
#define FEATURE_FORCE_TORQUE_PREINT_H_
diff --git a/include/bodydynamics/feature/feature_inertial_kinematics.h b/include/bodydynamics/feature/feature_inertial_kinematics.h
index fc4cffd..2d33c37 100644
--- a/include/bodydynamics/feature/feature_inertial_kinematics.h
+++ b/include/bodydynamics/feature/feature_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef FEATURE_INERTIAL_KINEMATICS_H_
#define FEATURE_INERTIAL_KINEMATICS_H_
diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h
index 1c31a2f..02589cd 100644
--- a/include/bodydynamics/math/force_torque_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_delta_tools.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/*
* imu_tools.h
*
diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h
index 9a1b11b..ada1e67 100644
--- a/include/bodydynamics/processor/processor_force_torque_preint.h
+++ b/include/bodydynamics/processor/processor_force_torque_preint.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef PROCESSOR_FORCE_TORQUE_PREINT_H
#define PROCESSOR_FORCE_TORQUE_PREINT_H
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index d07d1e0..317742c 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef PROCESSOR_INERTIAL_KINEMATICS_H
#define PROCESSOR_INERTIAL_KINEMATICS_H
diff --git a/include/bodydynamics/processor/processor_point_feet_nomove.h b/include/bodydynamics/processor/processor_point_feet_nomove.h
index f60b402..9f89b12 100644
--- a/include/bodydynamics/processor/processor_point_feet_nomove.h
+++ b/include/bodydynamics/processor/processor_point_feet_nomove.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef PROCESSOR_POINT_FEET_NOMOVE_H
#define PROCESSOR_POINT_FEET_NOMOVE_H
diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h
index 96dad1a..c8239dc 100644
--- a/include/bodydynamics/sensor/sensor_force_torque.h
+++ b/include/bodydynamics/sensor/sensor_force_torque.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef SENSOR_FORCE_TORQUE_H
#define SENSOR_FORCE_TORQUE_H
diff --git a/include/bodydynamics/sensor/sensor_inertial_kinematics.h b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
index 6c0c62d..9cea8ab 100644
--- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h
+++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef SENSOR_INERTIAL_KINEMATICS_H
#define SENSOR_INERTIAL_KINEMATICS_H
diff --git a/include/bodydynamics/sensor/sensor_point_feet_nomove.h b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
index 88d8e6f..dc7f8c8 100644
--- a/include/bodydynamics/sensor/sensor_point_feet_nomove.h
+++ b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#ifndef SENSOR_POINT_FEET_NOMOVE_H
#define SENSOR_POINT_FEET_NOMOVE_H
diff --git a/license_header_2023.txt b/license_header_2023.txt
index 2ddae24..529e05a 100644
--- a/license_header_2023.txt
+++ b/license_header_2023.txt
@@ -1,8 +1,10 @@
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
diff --git a/src/capture/capture_force_torque_preint.cpp b/src/capture/capture_force_torque_preint.cpp
index 88172f4..06b59e2 100644
--- a/src/capture/capture_force_torque_preint.cpp
+++ b/src/capture/capture_force_torque_preint.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include "bodydynamics/capture/capture_inertial_kinematics.h"
#include "bodydynamics/capture/capture_force_torque_preint.h"
#include "bodydynamics/sensor/sensor_force_torque.h"
diff --git a/src/capture/capture_inertial_kinematics.cpp b/src/capture/capture_inertial_kinematics.cpp
index a69164f..8121547 100644
--- a/src/capture/capture_inertial_kinematics.cpp
+++ b/src/capture/capture_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include "core/capture/capture_base.h"
#include "bodydynamics/capture/capture_inertial_kinematics.h"
#include "bodydynamics/sensor/sensor_inertial_kinematics.h"
diff --git a/src/capture/capture_leg_odom.cpp b/src/capture/capture_leg_odom.cpp
index 6e7ef29..04b6e87 100644
--- a/src/capture/capture_leg_odom.cpp
+++ b/src/capture/capture_leg_odom.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file capture_leg_odom.cpp
*
diff --git a/src/capture/capture_point_feet_nomove.cpp b/src/capture/capture_point_feet_nomove.cpp
index cc274f4..ea6d4b6 100644
--- a/src/capture/capture_point_feet_nomove.cpp
+++ b/src/capture/capture_point_feet_nomove.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file capture_point_feet_nomove.cpp
*
diff --git a/src/feature/feature_force_torque.cpp b/src/feature/feature_force_torque.cpp
index f38f366..41cd9d0 100644
--- a/src/feature/feature_force_torque.cpp
+++ b/src/feature/feature_force_torque.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include "bodydynamics/feature/feature_force_torque.h"
namespace wolf {
diff --git a/src/feature/feature_force_torque_preint.cpp b/src/feature/feature_force_torque_preint.cpp
index 9c5382c..3abefee 100644
--- a/src/feature/feature_force_torque_preint.cpp
+++ b/src/feature/feature_force_torque_preint.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include "bodydynamics/feature/feature_force_torque_preint.h"
namespace wolf {
diff --git a/src/feature/feature_inertial_kinematics.cpp b/src/feature/feature_inertial_kinematics.cpp
index f66bfec..e50b4a4 100644
--- a/src/feature/feature_inertial_kinematics.cpp
+++ b/src/feature/feature_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,9 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
-
#include "bodydynamics/feature/feature_inertial_kinematics.h"
#include "Eigen/Dense"
diff --git a/src/processor/processor_force_torque_preint.cpp b/src/processor/processor_force_torque_preint.cpp
index 2f13226..e52af86 100644
--- a/src/processor/processor_force_torque_preint.cpp
+++ b/src/processor/processor_force_torque_preint.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
// wolf
#include "bodydynamics/math/force_torque_delta_tools.h"
#include "bodydynamics/capture/capture_force_torque_preint.h"
diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp
index 0676306..7802d0b 100644
--- a/src/processor/processor_inertial_kinematics.cpp
+++ b/src/processor/processor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file processor_inertial_kinematics.cpp
*
diff --git a/src/processor/processor_point_feet_nomove.cpp b/src/processor/processor_point_feet_nomove.cpp
index 57ae3ac..363329e 100644
--- a/src/processor/processor_point_feet_nomove.cpp
+++ b/src/processor/processor_point_feet_nomove.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file processor_point_feet_nomove.cpp
*
diff --git a/src/sensor/sensor_force_torque.cpp b/src/sensor/sensor_force_torque.cpp
index 76e03a3..77cf60a 100644
--- a/src/sensor/sensor_force_torque.cpp
+++ b/src/sensor/sensor_force_torque.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include "bodydynamics/sensor/sensor_force_torque.h"
#include "core/state_block/state_block.h"
diff --git a/src/sensor/sensor_inertial_kinematics.cpp b/src/sensor/sensor_inertial_kinematics.cpp
index d7c93ea..b7dd3f5 100644
--- a/src/sensor/sensor_inertial_kinematics.cpp
+++ b/src/sensor/sensor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include "bodydynamics/sensor/sensor_inertial_kinematics.h"
#include "core/state_block/state_block.h"
diff --git a/src/sensor/sensor_point_feet_nomove.cpp b/src/sensor/sensor_point_feet_nomove.cpp
index 7be8820..4152bfc 100644
--- a/src/sensor/sensor_point_feet_nomove.cpp
+++ b/src/sensor/sensor_point_feet_nomove.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,7 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
#include "bodydynamics/sensor/sensor_point_feet_nomove.h"
namespace wolf {
diff --git a/test/gtest_capture_inertial_kinematics.cpp b/test/gtest_capture_inertial_kinematics.cpp
index e5c30fa..1875a5b 100644
--- a/test/gtest_capture_inertial_kinematics.cpp
+++ b/test/gtest_capture_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_capture_inertial_kinematics.cpp
*
diff --git a/test/gtest_capture_leg_odom.cpp b/test/gtest_capture_leg_odom.cpp
index 490ef0c..ac3feac 100644
--- a/test/gtest_capture_leg_odom.cpp
+++ b/test/gtest_capture_leg_odom.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_capture_leg_odom.cpp
*
diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp
index 43a82e1..7b4f241 100644
--- a/test/gtest_factor_force_torque.cpp
+++ b/test/gtest_factor_force_torque.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_factor_inertial_kinematics.cpp
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index 98fbd3c..3f3a4c2 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_factor_inertial_kinematics.cpp
diff --git a/test/gtest_feature_inertial_kinematics.cpp b/test/gtest_feature_inertial_kinematics.cpp
index 981e816..7c2d214 100644
--- a/test/gtest_feature_inertial_kinematics.cpp
+++ b/test/gtest_feature_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_feature_inertial_kinematics.cpp
*
diff --git a/test/gtest_force_torque_delta_tools.cpp b/test/gtest_force_torque_delta_tools.cpp
index c8064c7..cef2d67 100644
--- a/test/gtest_force_torque_delta_tools.cpp
+++ b/test/gtest_force_torque_delta_tools.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/*
* gtest_force_torque_delta_tools.cpp
*
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index 7b4dfea..0f41953 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_factor_force_torque_preint.cpp
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index 1e3d31f..0978ee3 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_factor_inertial_kinematics.cpp
diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp
index 2a9c36f..381e0de 100644
--- a/test/gtest_processor_point_feet_nomove.cpp
+++ b/test/gtest_processor_point_feet_nomove.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_processor_point_feet_nomove.cpp
diff --git a/test/gtest_sensor_force_torque.cpp b/test/gtest_sensor_force_torque.cpp
index f69f04e..1f61b42 100644
--- a/test/gtest_sensor_force_torque.cpp
+++ b/test/gtest_sensor_force_torque.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_sensor_force_torque.cpp
*
diff --git a/test/gtest_sensor_inertial_kinematics.cpp b/test/gtest_sensor_inertial_kinematics.cpp
index 05bad88..c54c825 100644
--- a/test/gtest_sensor_inertial_kinematics.cpp
+++ b/test/gtest_sensor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
@@ -17,8 +17,6 @@
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
/**
* \file gtest_sensor_inertial_kinematics.cpp
*
--
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